@conference {TB02-IARP,
	title = {Design, Realization and Control of Soft Robot Arms for Intrinsically Safe Interaction with Humans},
	booktitle = {Proc. IARP/RAS Workshop on Technical Challenges for Dependable Robots in Human Environments},
	year = {2002},
	month = {October},
	pages = {79-87},
	keywords = {Robotics},
	author = {A. Bicchi and G. Tonietti}
}
